1 rendering.candidate_pointclouds
rendering.candidate_pointclouds
Vectorised depth-to-point-cloud conversion for candidate renders.
Consumes a single EfmSnippetView and matching CandidateDepths to produce padded per-candidate point clouds, fused clouds with the collapsed semi-dense SLAM reconstruction, and a combined occupancy extent for cropping.
The output is world-frame oracle evidence. Scene-level RRI uses the combined snippet/candidate extent; target-level RRI may further crop both candidate points and mesh geometry with the matched GT target OBB. Empty target crops or unusable candidate depth should surface as invalidity, not as a low score.
1.1 Classes
| Name | Description |
|---|---|
| CandidatePointClouds | Batched candidate point clouds plus fused semi-dense reconstruction. |
1.2 Functions
| Name | Description |
|---|---|
| build_candidate_pointclouds | Convert stacked depth maps into batched point clouds and fuse with SLAM. |